CN108765284A - A kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing method and device - Google Patents
A kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing method and device Download PDFInfo
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- CN108765284A CN108765284A CN201810418200.7A CN201810418200A CN108765284A CN 108765284 A CN108765284 A CN 108765284A CN 201810418200 A CN201810418200 A CN 201810418200A CN 108765284 A CN108765284 A CN 108765284A
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- 238000012545 processing Methods 0.000 claims abstract description 26
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- 238000000605 extraction Methods 0.000 claims description 6
- 230000011218 segmentation Effects 0.000 claims description 6
- 238000007796 conventional method Methods 0.000 claims description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- G06T5/80—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30196—Human being; Person
Abstract
The invention discloses a kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing method and devices, including a kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing method, including：First Image Acquisition transmitting step, the second Image Acquisition transmitting step, the first image and the second image mosaic step, combines image feedback step at the first image recognizing step；Also disclose a kind of image processing apparatus for realizing image processing method, including wireless data sending unit, image identification unit, image mosaic unit, storage unit, power supply unit, interface unit, pass through image processing method and device, it can realize that the pedestrian information to autonomous driving vehicle surrounding accurately identifies, solve autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image procossing, preferably assist to identify pedestrian, the roadblock in multiple orientation in autonomous driving vehicle driving process, it is ensured that the safety traffic of autonomous driving vehicle.
Description
Technical field
The invention belongs to unmanned plane, autonomous driving vehicle fields, and in particular to a kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle
Image processing method and device.
Background technology
Unmanned plane is initially applied to military affairs, in recent years in the popularization and use of civilian industry, combating a natural disaster rescue, boat
The fields such as bat, express transportation obtain the use of better effects, have greatly expanded the application range of unmanned plane script.
Autonomous driving vehicle is also referred to as pilotless automobile, mainly by using artificial intelligence, computer vision, thunder
It reaches, the cooperative cooperating of monitoring device and navigation positioning system, is allowed using machine vision technique in conjunction with monocular or more mesh cameras
Autonomous driving vehicle can identify traffic lights, traffic sign, lane line, short distance low speed barrier etc. in real time, add simultaneously
Upper and road infrastructure and cloud database communication, allows automobile to be travelled according to traffic rules, and carry out corresponding route
Planning.
The autonomous driving vehicle image procossing of the prior art is to running car Lane detection, vehicle identification, pedestrian
Identification etc., and side direction, rear direction or surface conditions remotely are difficult to identify comprehensively, pass through vehicle-mounted unmanned aerial vehicle
In computer vision, vehicle, pedestrian, surface conditions to vehicle periphery or remotely are comprehensively monitored, are being driven automatically
Sailing has important practical usage in the implementation and application of automobile, however the image of the image of vehicle-mounted unmanned aerial vehicle and autonomous driving vehicle
Splicing is the matter of utmost importance for needing to solve.
Invention content
(1) the technical issues of solving
In view of the above problems, a kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing method of present invention offer and device.
It aims to solve the problem that autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image procossing, preferably assists to know in autonomous driving vehicle driving process
The pedestrian in not multiple orientation, roadblock.
(2) technical solution
Technical scheme is as follows：
A kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing method, including：First Image Acquisition transmitting step, first
Image recognizing step, the first image and the second image mosaic step, combines image feedback step at the second Image Acquisition transmitting step
Suddenly；
First Image Acquisition transmitting step：The shooting of camera one entrained by unmanned plane generates the first image, unmanned plane institute
The wireless data sending one of outfit transmits the first image；
First image recognizing step：The image on the basis of the second image, geometric correction images to be recognized, after geometric correction
First image determines target area, the background area of the first image into row threshold division again, the first image after Threshold segmentation according to
Secondary progress contour detecting, target denoising, feature extraction, determine the pedestrian contained in target area, the first figure after identifying processing
As being pedestrian image；
Second Image Acquisition transmitting step：Second Image Acquisition transmitting step and the first Image Acquisition transmitting step simultaneously into
It goes, the shooting of camera two provisioned in autonomous driving vehicle generates the second image, and the second image is passed by wireless data sending two
It is defeated；
First image and the second image mosaic step：The second image transmitted by wireless data sending two is carried out with pedestrian image
Image is tentatively aligned, obtain the second image, pedestrian image rectangle overlapping region, to rectangle overlapping region carry out splicing seams at
Reason builds suture by formula (1)：
E (x, y)=Ecolor(x,y)2+Egeometry(x,y) (1)
Wherein, Ecolor(x, y) indicates the difference of the color value of superposition image vegetarian refreshments, Egeometry(x, y) indicate its structured value it
Difference；Egeometry(x, y) is realized by changing gradient calculating Sobel operators；Image co-registration processing is carried out by suture, is generated
Combine image；
Combine image feedback step：Combination image feeds back to autonomous driving vehicle, and combination image is used for autonomous driving vehicle
Pedestrian identifies.
According to disclosed in this invention, a kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing apparatus is additionally provided, is wrapped
Include pedestrian image recognition unit, image mosaic unit, wireless data sending unit, storage unit, power supply unit, interface unit；
Image identification unit is configured to, and the first image of image pair carries out geometric correction, realization pair on the basis of the second image
Images to be recognized after geometric correction determines target area, the background area of images to be recognized into row threshold division, finally to threshold
Images to be recognized after value segmentation carries out contour detecting, target denoising, feature extraction successively, determines pedestrian image；
Image mosaic unit is configured to tentatively be directed at the second image with pedestrian image progress image, the second image of acquisition,
Pedestrian identifies the rectangle overlapping region of image, and splicing seams processing is carried out to rectangle overlapping region, and image co-registration is carried out by suture
Processing generates combination image；
Wireless data sending unit receives the first image from unmanned plane, receives the second image of autonomous driving vehicle；
Storage unit is for there are the data informations in the present apparatus；
Interface unit is connected to autonomous driving vehicle, and combination image is sent to autonomous driving vehicle by interface unit；
The power supply of power supply unit and autonomous driving vehicle connects.
(3) advantageous effect
(1) present invention realizes unmanned plane image recognition, can be completed to two kinds of autonomous driving vehicle, unmanned plane equipment images
Splicing, by treated image feedback to autonomous driving vehicle, provide reference frame for autonomous driving vehicle form of security.
(2) pedestrian image present in the image that the image recognition in the present invention mainly shoots unmanned plane is identified,
The pedestrian image and the image that autonomous driving vehicle generates simultaneously that identify are spliced, combination image can be more fully anti-
Mirror pedestrian's data of autonomous driving vehicle surrounding.
Description of the drawings
Fig. 1 is that the method for the present invention implements detailed process schematic diagram；
Fig. 2 is that the method for the present invention implements general steps schematic diagram；
Fig. 3 is the first image S1 of the present invention, the second image S2, third image S3 acquire schematic diagram；
Fig. 4 is apparatus of the present invention structure principle chart.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
As shown in Figure 1 and Figure 2, a kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing method, including the first Image Acquisition
Transmitting step STEP1, the first image recognizing step STEP2, the second Image Acquisition transmitting step STEP3, the first image and second
Image mosaic step STEP4, combination image feedback step STEP5.
First Image Acquisition transmitting step STEP1：Vehicle-mounted unmanned aerial vehicle W1 is arranged in autonomous driving vehicle Q1, automatic Pilot
In automobile Q1 driving processes, vehicle-mounted unmanned aerial vehicle W1 with same travel speed autonomous driving vehicle Q1 roofs overhead the regions F
Interior flight, the regions F are the border circular areas of 1.5 times of diameters of vehicle commander, and the shooting of camera one entrained by vehicle-mounted unmanned aerial vehicle W1 generates the
Wireless data sending one provisioned in one image S1, vehicle-mounted unmanned aerial vehicle W1 transmits the first image S1 to the wireless data sending of image processing apparatus
Unit Z1, the first image S1 are transmitted to image identification unit Z2 by wireless data sending unit Z1 again；
First image recognizing step STEP2：The image on the basis of the second image S2, geometric correction the first image S1, geometry
The first image S1 after correction determines target area, the background area of the first image S1 into row threshold division again, after Threshold segmentation
The second image S2 carry out contour detecting, target denoising, feature extraction successively, determine the pedestrian R1 contained in target area, know
Treated, and the first image S1 is pedestrian image；If stopped in this step without pedestrian R1, STEP2 in target area；
Second Image Acquisition transmitting step STEP3：Second Image Acquisition transmitting step STEP3 and the first Image Acquisition are transmitted
Step STEP1 is carried out at the same time, and the shooting of camera two provisioned in autonomous driving vehicle Q1 generates the second image S2, the second image S2
The wireless data sending unit Z1 of image processing apparatus is transmitted to by the wireless data sending two provisioned in vehicle-mounted unmanned aerial vehicle W1；
First image S1 and the second image S2 splice step：It is tentatively aligned including image, splicing seams are handled, at image co-registration
Reason；
Image is tentatively aligned：Image mosaic unit Z3 carries out image with the second image S2 to pedestrian image and is tentatively aligned, and obtains
The second image S2, pedestrian image rectangle overlapping region；
Splicing seams processing：Image mosaic unit Z3 carries out splicing seams processing, splicing seams processing method to rectangle overlapping region
Using conventional method, median filtering method is used to eliminate splicing seams herein；
Image co-registration：Image mosaic unit Z3 builds suture to rectangle overlapping region, and suture is built by formula (1)：
E (x, y)=Ecolor(x,y)2+Egeometry(x,y) (1)
Wherein, Ecolor(x, y) indicates the difference of the color value of superposition image vegetarian refreshments, Egeometry(x, y) indicate its structured value it
Difference.Egeometry(x, y) is realized by changing gradient calculating Sobel operators；Image co-registration processing is carried out by suture, is generated
Combine image.
Combine image feedback step：It combines and contains pedestrian's data in image, the combination image after generation passes through interface unit
Z4 feeds back to autonomous driving vehicle Q1, and pedestrian of the combination image for autonomous driving vehicle Q1 identifies.
As shown in figure 3, a kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing apparatus, including wireless data sending unit Z1,
Image identification unit Z2, image mosaic unit Z3, storage unit Z4, power supply unit Z5, interface unit Z6；
Image identification unit Z2 is configured to, and the first image of image pair S1 on the basis of the second image S2 carries out geometric correction,
Realize target area R1, the background area for determining the first image S1 into row threshold division to the first image S1 after geometric correction
R2 finally carries out contour detecting, target denoising, feature extraction to the first image S1 after Threshold segmentation, determines target area successively
Pedestrian information in the R1 of domain；
Image mosaic unit Z3 is configured to tentatively be directed at the second image S2 with pedestrian image progress image, obtains the second figure
As S2, the rectangle overlapping region of pedestrian image, splicing seams processing is carried out to rectangle overlapping region, image co-registration is carried out by suture
Processing generates combination image；
Wireless data sending unit Z1 receives the first image S1 from vehicle-mounted unmanned aerial vehicle W1, receives the of autonomous driving vehicle Q1
Two image S2；
Storage unit Z4 is used to store the data information in the present apparatus；
Interface unit Z6 is connected to autonomous driving vehicle Q1, and combination image is sent to automatic Pilot vapour by interface unit Z6
Vehicle Q1；
Power supply unit Z5 is connect with the power supply of autonomous driving vehicle Q1.
Image processing apparatus can handle 3 images simultaneously, as shown in figure 3, vehicle-mounted unmanned aerial vehicle W1 can shoot the areas Liang Ge simultaneously
Image in domain, the first image S1, third image S3 may be implemented by above-mentioned steps to the first image S1, third image S3
And second image S2 splicing, existing pedestrian R1 and pedestrian R2 around autonomous driving vehicle is recognized accurately, can
Comprehensively to monitor the pedestrian information of autonomous driving vehicle Q1 surroundings, so that autonomous driving vehicle Q1 normally drives safely.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions are used so that a station terminal equipment (can be mobile phone, computer, clothes
Be engaged in device, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
It is that illustrative description has been carried out to the present invention above, it is clear that realization of the invention is not limited by aforesaid way
System, if the various improvement of technical solution of the present invention progress are used, or it is not improved by the design of the present invention and technical solution
Other occasions are directly applied to, are within the scope of the invention.
Claims (4)
1. a kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing method, including：First Image Acquisition transmitting step, the first figure
As identification step, the second Image Acquisition transmitting step, the first image and the second image mosaic step, combine image feedback step；
First Image Acquisition transmitting step：Camera one entrained by unmanned plane, which is shot, generates the first image, provisioned in unmanned plane
Wireless data sending one transmit the first image；
First image recognizing step：The image on the basis of the second image, geometric correction images to be recognized, first after geometric correction
Image determines target area, the background area of the first image into row threshold division again, the first image after Threshold segmentation successively into
Row contour detecting, target denoising, feature extraction determine the pedestrian contained in target area, and the first image after identifying processing is
Pedestrian image；
Second Image Acquisition transmitting step：Second Image Acquisition transmitting step is carried out at the same time with the first Image Acquisition transmitting step,
The shooting of camera two provisioned in autonomous driving vehicle generates the second image, and the second image is transmitted by wireless data sending two；
First image and the second image mosaic step：The second image transmitted by wireless data sending two carries out image with pedestrian image
Preliminary alignment obtains the second image, the progress splicing seams processing of rectangle overlapping region is pressed in the rectangle overlapping region of pedestrian image
Formula（1）Build suture：
（1）
Wherein, the difference of the color value of superposition image vegetarian refreshments is indicated,Indicate the difference of its structured value；It is
Calculate what Sobel operators were realized by changing gradient；Image co-registration processing is carried out by suture, generates combination image；
Combine image feedback step：Combination image feeds back to autonomous driving vehicle, and combination image is used for autonomous driving vehicle pedestrian
Identification.
2. a kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing method according to claim 1, which is characterized in that the
One image includes that image is tentatively aligned, splicing seams are handled, image co-registration processing with the second image mosaic step；
Image is tentatively aligned：Image is carried out to pedestrian image and the second image be tentatively aligned, obtain the second image, pedestrian image
Rectangle overlapping region；
Splicing seams processing：Splicing seams processing is carried out to rectangle overlapping region, splicing seams processing method uses conventional method, adopts herein
Splicing seams are eliminated with median filtering method；
Image co-registration：Suture is built to rectangle overlapping region.
3. a kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing apparatus, including pedestrian image recognition unit, image mosaic list
Member, wireless data sending unit, storage unit, power supply unit, interface unit；
Image identification unit is configured to the first image of image pair on the basis of the second image and carries out geometric correction, realizes to geometry school
Images to be recognized after just determines target area, the background area of images to be recognized into row threshold division, finally to Threshold segmentation
Images to be recognized afterwards carries out contour detecting, target denoising, feature extraction successively, determines pedestrian image；
Image mosaic unit is configured to tentatively be directed at the second image with pedestrian image progress image, obtains the second image, pedestrian
The rectangle overlapping region for identifying image, splicing seams processing is carried out to rectangle overlapping region, and image co-registration processing is carried out by suture,
Generate combination image；
Wireless data sending unit receives the first image from unmanned plane, receives the second image of autonomous driving vehicle；
Storage unit is for there are the data informations in the present apparatus；
Interface unit is connected to autonomous driving vehicle, and combination image is sent to autonomous driving vehicle by interface unit；
The power supply of power supply unit and autonomous driving vehicle connects.
4. a kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing apparatus according to claim 3, which is characterized in that
Image processing apparatus can handle 3 images simultaneously, and vehicle-mounted unmanned aerial vehicle can shoot the image in two regions simultaneously, the first image,
Autonomous driving vehicle week can be recognized accurately to the splicing of the first image, third image and the second image in third image
Existing pedestrian and pedestrian are enclosed, comprehensively monitors the pedestrian information of autonomous driving vehicle surrounding, just so as to autonomous driving vehicle
Often safety traffic.
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